Advances in Robot Kinematics: Analysis and Control

1. Plenary.- The Stewart-Gough platform of general geometry can have 40 real postures.- Parallel arrays of binary actuators.- 2. Kinematics of Parallel Robots.- A study on the kinematics of a class of parallel manipulators.- Determination of the presence of singularities in 6D workspace of a Gough parallel manipulator.- A translational 3-dof parallel manipulator.- Inverse kinematics of a planar manipulator with holonomic higher pairs.- N-position synthesis of parallel planar RPR platforms.- Dual expansion of an optimal in-parallel spherical platform device into a spatial one.- Kinematics and force analysis of a 6 d.o.f. parallel mechanism with elastic joints.- Inverse kinematics for an underconstrained cable suspension manipulator.- Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms.- 3. Direct Analysis and Design of Parallel Robots.- Workspace and assembly modes in fully-parallel manipulators: a descriptive study.- The on-line direct kinematics of parallel manipulators under joint-sensor redundancy.- Forward kinematics of a 6-6 fully-parallel manipulator with congruent base and platform.- Forward displacement analysis of a three-legged four-degree-of-freedom parallel manipulator.- Double circular-triangular six-degrees-of-freedom parallel robot.- A new parallel mechanism to use for cutting convex glass panels.- Geometric modelling of general parallel mechanisms for calibration purposes.- 4. Control and Design.- On the mass center of articulated chains.- A spatial algebra approach to kinematic control of dual-arm systems.- Automatic generation of error models of the kinematics of robots.- Samos: A Pythagorean solution for omni-directional underwater vehicles.- Predicting the slop of in-series/parallel manipulators caused by joint clearances.- Kinematics of a split-equator symmetrically actuated double pointing system used in a robotic wrist.- An analytical design of telescopic manipulator arms for prescribed workspace.- Modular kinematics of planar mechanisms with prismatic pairs and flexible links.- 5. Basic Kinematics, Application of Screw Theory.- Geometry in mechanics.- The kinematics of Röschel polyhedra.- A remarkable overconstrained spherical motion.- Analytical kinematics of overconstrained 20-link 24R mechanism: Branches with one, two and three degrees of freedom.- An investigation of a special motion of an octahedron manipulator using screw theory.- Linear systems of tan-screws for finite displacement of a rigid body with symmetries.- The Jacobian analysis of a parallel manipulator using reciprocal screws.- On compounding three successive finite displacement screws.- Unified kinetostatics for serial, parallel and mobile robots.- 6. Special Methods in Kinematic Analysis.- Applications of Fourier methods on the motion group in robot kinematics.- A geometric approach to second and higher order kinematic analysis.- Inverse kinematics of arbitrary robotic manipulators using genetic algorithms.- An algorithm for solving the inverse kinematics of a 6R serial manipulator using dual quaternions and Grassmannians.- An algorithm for the solution of inverse kinematics problems based on an interval method.- Approximation in line space — applications in robot kinematics and surface reconstruction.- Rotation minimizing spherical motions.- 7. Isotropy versus Singularity.- Redundancy-resolution algorithms for isotropic robots.- Robot isotropy: A reassessment.- Architecture singular parallel manipulators.- Geometry & architecturally shaky platforms.- Characterisation of architecturally shakyplatforms.- Singularity consistent inverse kinematics by enhancing the Jacobian transpose.- A singularity classification for closed chains.- Coordination of redundant articulatory parameters near a singularity in the vocal mechanism.- Jacobian of a flexible manipulator undergoing large elastic displacements.- 8. Biorobotics.- Compensation of geometric and elastic deflection errors in large manipulators based on experimental measurements: application to a high accuracy medical manipulator.- Dynamic models for haptic rendering systems.- Determination of singularities and self-motion of a 7-dof anthropomorphic manipulator.- Kinematic stability in quadrupedal locomotion.- Kinematics of the human forearms pro- and supination.- The human lower limb system during swing phase of gait — A flexible mechanism with optimized actuators.- The self motion of an anthropomorphic manipulator.- Author Index.